Prof. Jun Ho Oh

Humanoid Robot Research Center,

Korea Advanced Institute of Science and Technology

Robot Technology

Asimo, Honda

Part I Examples of Robot

Part II Deign outline of Hubo

Part III Technical Challenge for Intelligent Robot

Contents

Intelligent Robot Application

• Home service robot

• Medical robot

• Military robot

• Robot in hazardous environment

• Entertainment robot

• Rehabilitation robot

Military Robot

Big Dog ,2008

USA, Boston Dynamics

Military Robot

Crusher ,2008

Carnegie Mellon Univ.

Rescue Robot

RHex

USA,Boston Dynamics

Entertainment Robot

Chroino , 2004~ Tomotaka Takahashi.

developed by Kyoto University's RoboGarage

Service Robot

Pomi

Korea, ETRI

Wearable Robot

HAL, 2007

(Hybrid Assistive Limb) Japan, CYBERDYNE ltd. ```

Paro, 2002

Dr.Takanori Shibata Japan,AIST

Emotion Robot

Bio Robots

Monkeys control robots

with brain power

Univ. of Pittsburgh

Da Vici robot

USA, Intuitive Surgical Inc.

Surgical Robots

Capsule type Robots

www.vector-survey.com/surveyform.htm Legged Endoscopic Capsule Robots (JHU, USA)

Microcapsule for gastrointestinal diagnosis and therapy (KIST, Korea)

M2A capsule endoscopy (Given Imaging, Israel)

Smart capsule endoscope (Olympus Co., Japan)

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/68

Humanoid Robot: HUBO

KHR-1(2002)

KHR-2(2003)

Hubo, KAIST

Hubo (2004)

Albert Hubo(2005)

Hubo FX-1(2006)

25

Humanoid Robot Research Center Department of Mechanical Engineering

KAIST

2013. 07. 30

Humanoid Robot and DARPA Robotics Challenge

Prof. Junho Oh (Vice President of KAIST)

26

Darpa Robotics Challenge

• Supervision

– Defense Advanced Research Project Agency – DARPA(미국 방위고등연구기획국)

• Purposes

– To generate groundbreaking research and development so that future robotics can perform the most hazardous activities in future disaster(like Fukushima disaster) response operations, in tandem with their human counterparts, in order to reduce casualties, avoid further destruction, and save lives.

Darpa Robotics Challenge

DRC Schedule and Funding

27

Team KAIST

Hubo Team

Robots in Darpa Robotics Challenge

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CHIMP, Carnegie Mellon University

RObosimian, NASA JPL

THOR, Virginia Tech

DRC-Hubo, KAIST

SCHAFT, Japan

TBD, NASA JSC

ATLAS, Boston Dynamics

Tra

ck

A

Tra

ck

B

• Drive a utility vehicle at the site

• Travel dismounted across rubble.

• Remove debris blocking an entryway

29

DARPA Robot Challenge

DARPA Robot Challenge

• Open a door and enter a building.

• Climb an industrial ladder and traverse

an industrial walkway.

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DARPA Robot Challenge • Use a tool to break through a concrete.

• Locate and close a valve near a leaking.

• Replace a component such as a cooling pump.

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PETMAN, Boston Dynamics 3

2

DRC Hubo Development

33

Increased computing power

Hard real-time linux system

(xenomai)

Various sensor acceptable head mechanism

Stereo vision system

Smaller motor controller with torque control algorithm

Powerful 7DOF arm design

End-effector changeable mechanism

Power gripper

3-axis FT sensor with increased sensing range

More durable battery

3-axis IMU

High friction material

Powerful knee joint

Extended leg

Protection shell (duralumin)

Body Operation

34

Head Operation

35

Hand Operation

36

Quadruped Walking Mode

37

Driving Utility Vehicle

38

Ladder Climbing

39

★High stiffness with light weight

★Over all weight is about 44kg including

exterior case

★Avoid cantilever

like structure

★40 DOF

Mechanical Design – Body design

1305mm

532mm

Mechanical Design – Body design

★High stiffness with light weight design

★Expected weight(include exterior case): 41kg

★30% weight reduction compare to the HUBO

★It is possible to move up and down with 3Hz frequency.

★7 DOF

Mechanical Design – Light weight arm

Mechanical Design – Light weight arm

★Functional hand mechanism

design

★1 motor /finger

★Tendon drive system

★Shape adaptive grasping

★Compact size

Mechanical Design – Adaptive hand

★Handshake movements

Mechanical Design – Adaptive hand

Mechanical Design – Arm, Push-up

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Moving Balls

52

Ball Batting

3. Hand

Functional hand mechanism design

- 1 motor /finger

- Tendon drive system

- Shape adaptive grasping

- Compact size

- Grasping Force : 0.2Kg/finger (5DOF/hand)

- Holding Force : 1.75Kg/finger - Weight: 380g

( Photograph of hand )

Mechanical Design – Adaptive Hand

( Photograph of hand parts )

Mechanical Design – Adaptive Hand

Mechanical Design – Adaptive Hand

56

Mechanical Design – Head

57

Mechanical Design – Leg

58

Mechanical Design – Leg

59

7. Foot

Design features

- 3-Axis Force/Torque sensor at foot : 1 Normal force and 2 Moments - 2-Axis Tilt sensor : measurement of ground inclination - 1-Axis G sensor : measurement of Z direction acceleration - Impact absorbing sole : 2 layer of soft & hard rubber / 4 points support of sole - Passive compliant : Urethane between F/T Sensor and Ankle Joint

3-axis Force/Torque sensor with 2-Axis Tilt sensor and 1-Axis G sensor

( Photograph of the foot ) Rubber layers

Urethane

Mechanical Design – Foot

60

Quick Delivery Robot, HuboQ

System Integration

JMC0 JMC1

Sen0 Sen1 Sen2

Vision CAN Interface PC (Windows)

PC 104 BUS

CAN Communication

JMC

Sen

F/T Sensor Rate Gyro Acc. Etc.

CAN Communication

Stretched Leg Walking Algorithm – Walking pattern

Step time : 0.8sec Step length : 400mm

Stretched Leg Walking Algorithm – Experiment

Stretched leg walking realize .

65

HUBO Power Consumption

- Step Period : 0.8 sec - Step Length : 20 cm

Robot Technology and the Challenge

Evolution of Robot

Industrial Robot

(1960’s)

• Working in structured

environment

• Pre-scheduled motion

(simple & repeating)

• Machine-Robot interaction

• Simple technology

Intelligent Service Robot

(21 century)

• Working in unstructured

environment

• Autonomous motion

• Human-Robot interaction

• Technology convergence

– RT+BT+NT+etc

Customer's expectation Vs. Technology level

Customer's expectation

Technology level

Technology Level

time Market emerging Market exploding Tech. Introduced

Customer's expectation Vs. Technology level

Technology Level

time

RT, BT, NT

IT

Customer's expectation in various application

time

Technology Level

Medical / special purpose

Entertainment

Welfare / Silver

Limited service

Ultimate service

Present time

Technology

Keywords for future technology application

Networks – wireless (Ubiquitous)

Intelligence – autonomous

Mobility – physical contact

Human friendly

Coexisting

Robot & Related Technology

Robot & Robotization

Robot : New device for specific application

Robotization : Embedding robotic function into existing device

• Robotic spacecraft • Robotic vacuum cleaner • Robotic automobile • Robotic refrigerator

- Flexibility - Intelligence - Mobility / Manipulation

[Ex]

Intelligent Robots

Perception

Autonomy Mobility

Cognition

Perception

Action

Cognition

Computational

Intelligence

Dilemmas

•Autonomy •Mobility

Mobility

Autonomy

Home Automation

C.G,

Animation

Home Service Robot

Automobile

Toy Robot

Monitoring,

Artificial Organ,

ARS

Space Robot

Surgery Robot

Industrial

Robot

Customized actuators & sensors

Industrial actuators & sensors

Artificial muscles & smart sensors

Programming

Navigation

Recognition & Induction

HRI

HCI

Cybernetics

A.I.

Intelligent Service Robot

Autonomy & Mobility

Rehabilitation

Military Robot

Jun Ho Oh, 2008

Summary

• Robot technology is not fully ready for market, yet.

• Service Robot -> Robotized

• Niche market

– Entertainment, Medial, Military, Silver Industry, Rehabilitation

– Limited Service

• Convergence with BT, NT, IT

Ending :: Hubo2 Gangnam Style Dance

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